1. A Design Method of Model Error Compensator for Systems with Polytopic-type Uncertainty and Disturbances
- Author
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Yuki Tanigawa, Hiroshi Okajima, Nobutomo Matsunaga, and Ryuichiro Yoshida
- Subjects
0209 industrial biotechnology ,Disturbance (geology) ,ロバスト制御 ,Computer science ,020208 electrical & electronic engineering ,外乱オブザーバ ,MEC ,ポリトープ型不確かさ ,Particle swarm optimization ,02 engineering and technology ,DOB ,Type (model theory) ,Model Error Compensator ,020901 industrial engineering & automation ,Control theory ,Control system ,Disturbance observer ,モデル誤差抑制補償器 ,0202 electrical engineering, electronic engineering, information engineering ,システムのロバスト化 ,Errors-in-variables models ,Polytopic-type Uncertainty ,Robust control ,Robust Control - Abstract
Control systems achieve the desired performance with the model-based controller if the dynamical model of the actual plant is given with sufficient accuracy. However, if there exists a difference between the actual plant and its model dynamics, the model-based controller does not work well and does not achieve the intended desired performance. A model error compensator (MEC) is proposed for overcoming the model error in our previous study. Attaching the compensator for the model error to the actual plant, the output trajectory of the actual plant is made close to that of its model. Then, from the controller, the apparent difference in the dynamics can be smaller, and performance degradation is drastically reduced. MEC is useful for various control systems such as non-linear systems and the control systems with delay, and so on. In this paper, we propose an original design method of the filter parameters in MEC for systems with polytopic-type uncertainty and disturbances. First, we show an analysis method about the robust performance of MEC for the system with the polytopic type uncertainty based on an linear matrix inequality problem. The gain parameters in MEC is designed using particle swarm optimization and the presented analysis method. The effectiveness of the design method for the system with polytopic-type uncertainty and disturbance is evaluated using numerical examples.
- Published
- 2021